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Torizon OS

Torizon OS is an open-source software platform that aims to simplify the development and maintenance of embedded Linux software.

By using docker containers it allows developers to focus on the application instead of building and maintaining a custom distribution.

This guide explains how to create a docker image containing LVGL and a simple demo application that can be deployed on any Toradex device running TorizonOS.

Prerequisites

To follow this guide you obviously need to have a Toradex SoM along with a carrier board. More information is available on the Toradex website.

Note

You need to be familiar with some Docker fundamentals to be able to understand and follow this guide. Also Docker needs to be present on the development host.

The Toradex documentation is a helpful resource. This article contains many references to it.

Board setup

Begin by installing TorizonOS by using the Toradex Easy Installer. Follow the official bring-up guides.

In the Easy Installer, select TorizonCore as the operating system to install.

Copy the IP address that was assigned to the device by the DHCP server on your network. The address is displayed in the bottom right corner. It will be used later.

Once the setup is complete, the device will boot into TorizonOS.

Creating the Docker image

Toradex provides a VSCode extension that offers a collection of templates used to configure and automate the tasks needed to cross-compile applications and build Docker images.

However, this guide explains how to perform those operations manually.

Note

The template for a LVGL application is currently being added to the VSCode extension and will be available soon.

To build a Torizon container Docker ARM emulation needs to be enabled by typing the following commands:

docker run --rm -it --privileged torizon/binfmt
docker run --rm -it --pull always --platform linux/arm64/v8 debian arch

The second command should print aarch64.

More information on the build environment for Torizon containers is available here.

Let's begin by creating a directory that will contain the Dockerfile and source code that will be used to build the image.

Type the following commands in a terminal window:

mkdir -p ~/lvgl_torizon_os/
cd ~/lvgl_torizon_os/
touch Dockerfile

git clone --depth 1 https://github.com/lvgl/lv_port_linux
git -C lv_port_linux submodule update --init

These commands create the project directory and the Dockerfile. git is used to download the lv_port_linux and lvgl repositories from Github.

Note

By default, lv_port_linux is configured to use the legacy framebuffer device /dev/fb0. It is also possible to use another rendering backend by enabling the correct options in lv_port_linux/lv_conf.h.

Now edit the Dockerfile. Copy-paste the block below into the file:

ARG CROSS_SDK_BASE_TAG=3.2.1-bookworm
ARG BASE_VERSION=3.2.1-bookworm
##
# Board architecture
# arm or arm64
##
ARG IMAGE_ARCH=arm64

##
# Directory of the application inside container
##
ARG APP_ROOT=/usr/lvgl_application

# BUILD ------------------------------------------------------------------------
FROM torizon/debian-cross-toolchain-${IMAGE_ARCH}:${CROSS_SDK_BASE_TAG} AS build

ARG APP_ROOT
ARG IMAGE_ARCH

RUN apt-get -q -y update && \
    apt-get -q -y install && \
    apt-get clean && apt-get autoremove && \
    apt-get install -q -y curl git cmake file && \
    rm -rf /var/lib/apt/lists/*

COPY . ${APP_ROOT}
WORKDIR ${APP_ROOT}

# Compile lv_port_linux
RUN CC=aarch64-linux-gnu-gcc cmake -S ./lv_port_linux -B build
RUN make -j 4 -C ${APP_ROOT}/build

# DEPLOY -----------------------------------------------------------------------
FROM --platform=linux/${IMAGE_ARCH} torizon/debian:${BASE_VERSION} AS deploy

ARG IMAGE_ARCH
ARG APP_ROOT

RUN apt-get -y update && apt-get install -y --no-install-recommends \
&& apt-get clean && apt-get autoremove && rm -rf /var/lib/apt/lists/*

# Copy the lvglsim executable compiled in the build step to the $APP_ROOT directory
# path inside the container
COPY --from=build ${APP_ROOT}/lv_port_linux/bin/lvglsim ${APP_ROOT}

# Command executed during runtime when the container starts
ENTRYPOINT [ "./lvglsim" ]

The Dockerfile acts like a recipe to build two images and build and deploy.

First it downloads the necessary packages to build the simulator using Debian's package manager apt-get.

After compilation, the resulting executable is written to lv_port_linux/bin/lvglsim.

The deploy image will be deployed on the device. The executable created in the previous image is copied to the /usr/bin directory of the current image.

This creates a smaller image that does not include the tool chain and the build dependencies.

The images are built with the following command:

docker build . -t lvgl_app

Docker will interpret the Dockerfile present in the current working directory. The -t argument gives a name to the resulting image.

Upon completion, ensure that the image is listed by Docker:

docker image list | grep lvgl_app

It should display the image along with its ID that will be used later.

Deploying the container image to the device

The image is now ready to be deployed on the device. There are several ways to perform this task.

Read this article for more information.

For this guide, we are going to setup a Docker registry container on the development host which will be accessible from any device on your LAN. The Toradex board being on the same network will be able to pull the image from the registry.

The registry is created like so:

docker run -d -p 5000:5000 --name registry registry:2.7

The -d flag runs the container in detached mode. The -p argument specifies the port mapping. The registry container will listen on port TCP/5000 and will map to the same port externally.

Push the image created in the previous step to the newly created registry:

docker tag <IMAGE_ID> 127.0.0.1:5000/lvgl-app

docker push 127.0.0.1:5000/lvgl-app

By default a local container registry uses clear text HTTP so the Docker instance running on the device has to be configured to allow fetching images from an 'insecure' repository.

Get the IP address of the development host and open a remote shell on the device.

sudo su # When prompted type in the password of the torizon user

# Be sure to replace set the IP address of your host instead
cat << heredoc > /etc/docker/daemon.json
{
     "insecure-registries" : ["<IP_ADDR_OF_DEVELOPMENT_HOST>:5000"]
}
heredoc

systemctl restart docker.service

# Return to regular user
exit

# Pull the image from your development host
docker pull <IP_ADDR_OF_DEVELOPMENT_HOST>:5000/lvgl-app

By default, Docker containers are isolated from the hardware of the host system. While this is great for security, an embedded application will obviously need access to the hardware.

The container running the LVGL application needs access to the framebuffer device /dev/fb0.

By using the --device argument it is possible to map a device to a container.

Start the container like so:

docker run --device /dev/fb0:/dev/fb0 <IMAGE_ID>

Conclusion

You now have a running LVGL application. Where to go from here?

  • You are now ready to build your LVGL application for Torizon OS. It is recommended to get familiar with VSCode IDE extension as it will simplify your workflow.

    If you are a VSCode user, it is the best way to develop for Torizon OS. If you use another editor or IDE you can always write scripts to automate the building/pushing/pulling operations.

  • Read this article to understand how to design applications for Torizon OS.

  • Getting familiar with Torizon Cloud and Torizon OS builder is also recommended when you get closer to production.